Publisher

agnocast::Publisher<MessageT>

Extends: agnocast::PublisherBase

Zero-copy publisher that allocates messages in shared memory. Use borrow_loaned_message() to obtain a message, populate its fields, then call publish() to transfer it to subscribers without copying.

Example:

// Create a publisher (Stage 1, with rclcpp::Node)
auto pub = agnocast::create_publisher<MyMsg>(this, "/topic", 10);

// Borrow, populate, publish
auto msg = pub->borrow_loaned_message();
msg->data = 42;
pub->publish(std::move(msg));  // msg is invalidated after this

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borrow_loaned_message()

agnocast::ipc_shared_ptr<MessageT> Publisher::borrow_loaned_message()

Allocate a new default-constructed message in shared memory. The caller must either pass the returned pointer to publish() or let it go out of scope (which frees the memory).

Template Parameter	Description
MessageT	ROS message type.

Returns	Owned pointer to the newly allocated message in shared memory.

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publish()

void Publisher::publish(agnocast::ipc_shared_ptr<MessageT> &&message)

Publish a message via zero-copy IPC. Ownership is transferred: after this call, the passed-in ipc_shared_ptr and all copies sharing its control block are invalidated — dereferencing them calls std::terminate().

Template Parameter	Description
MessageT	ROS message type.

Parameter	Description
message	Message obtained from borrow_loaned_message(). Must be moved in.